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CN-122007734-A - Portable intelligent welding arm

CN122007734ACN 122007734 ACN122007734 ACN 122007734ACN-122007734-A

Abstract

The invention discloses a movable intelligent welding mechanical arm, which relates to the technical field of welding mechanical arms and comprises a base, wherein a main shaft is arranged above the base, a secondary shaft is arranged at the end part of the main shaft, a C-shaped frame is arranged at the end part of the secondary shaft, a rotating head is arranged inside the C-shaped frame, a welding core is arranged at the bottom end of the rotating head, a visual sensor is arranged below the C-shaped frame and used for collecting images around the welding core, a protective cover is arranged on the outer wall of the rotating head, a plurality of fan-shaped pieces are arranged on the outer wall of the protective cover, an adaptive protection component which pushes the corresponding fan-shaped pieces to extend outwards according to the deflection angle of the welding core is arranged below the C-shaped frame, and a cleaning component which scrapes metal slag adhered to the inner wall of the protective cover is arranged inside the protective cover.

Inventors

  • ZHOU HUAXIANG
  • WU XIAOYAN

Assignees

  • 湖北理工学院

Dates

Publication Date
20260512
Application Date
20260306

Claims (9)

  1. 1. A movable intelligent welding mechanical arm comprises a base (1), a main shaft (2) is arranged above the base (1), a secondary shaft (3) is arranged at the end part of the main shaft (2), and is characterized in that a C-shaped frame (4) is arranged at the end part of the secondary shaft (3), a rotating head (5) is arranged in the C-shaped frame (4), a welding core (6) is arranged at the bottom end of the rotating head (5), a visual sensor (7) is arranged below the C-shaped frame (4), the visual sensor (7) is used for collecting images around the welding core (6), a protective cover (8) is arranged on the outer wall of the rotating head (5), a plurality of fan-shaped pieces (9) are arranged on the outer wall of the protective cover (8), an adaptive protective component which corresponds to the fan-shaped pieces (9) and stretches outwards is pushed according to the deflection angle of the welding core (6), and a cleaning component which scrapes metal slag adhered on the inner wall of the protective cover (8) is arranged inside the protective cover.
  2. 2. The mobile intelligent welding mechanical arm according to claim 1, wherein the self-adaptive protection component comprises an inertial measurement sensor (10) positioned below the C-shaped frame (4), the inertial measurement sensor (10) is used for measuring pitch angle and yaw angle accurate angle data of a welding core (6) in a three-dimensional space in real time, a fixed rod (11) is arranged on the side face of the fan-shaped piece (9), a connecting pipe (12) is arranged on the outer wall of the fixed rod (11), an annular shell (13) is arranged at the end part of the connecting pipe (12), the annular shell (13) is positioned on the outer wall of the rotating head (5) and fixedly connected with the outer wall, a cavity is formed inside the annular shell (13) and is provided with four cavities, each cavity is in a negative pressure state with the corresponding fixed rod (11), an inflating cavity (14) is arranged above the annular shell (13) and is communicated with the corresponding fixed rod, an air pump (15) is arranged above the C-shaped frame (4), and the inflating cavity (14) is communicated with the air pump (15).
  3. 3. The mobile intelligent welding mechanical arm according to claim 2, wherein the annular shell (13) comprises a connecting portion (16), the connecting portion (16) is located between the annular shell (13) and the inflation cavity (14), a micro air valve (17) is arranged on the outer wall of the connecting portion (16), and the micro air valve (17) is used for blocking and opening air circulation between the connecting portion (16).
  4. 4. The mobile intelligent welding manipulator according to claim 3, wherein the micro air valves (17) and the connecting parts (16) are four groups, each micro air valve (17) is mutually independent, and the micro air valves (17), the air pump (15) and the inertial measurement sensor (10) are electrically connected with the control center.
  5. 5. The movable intelligent welding mechanical arm of claim 4, wherein the cleaning component comprises a scraping blade (18) positioned on the inner side surface of the sector piece (9), the sector piece (9) comprises a sliding part (19), the sliding part (19) is fixedly connected with the outer wall of the scraping blade (18), and the outer wall of the scraping blade (18) is attached to the inner wall of the protective cover (8).
  6. 6. The intelligent mobile welding robot arm according to claim 5, wherein the wiper blade (18) is curved as a whole, and the end of the wiper blade (18) is shaped like an inclined sharp.
  7. 7. The mobile intelligent welding robot arm according to claim 6, wherein an arc-shaped cover (20) for supporting metal slag is arranged at the bottom of the protective cover (8), and an inner wall area of the arc-shaped cover (20) is provided with a folded edge which is turned upwards.
  8. 8. The movable intelligent welding mechanical arm according to claim 7, wherein the wall body of the protective cover (8) is provided with a through hole (21), the through hole (21) penetrates through the protective cover (8) and the fan-shaped piece (9), the side face of the through hole (21) is provided with an absorption cover (22), the inside of the C-shaped frame (4) is provided with a collecting box (23), the absorption cover (22) is communicated with the collecting box (23) through an absorption pipe, and an absorption pump for providing suction for the absorption cover (22) is arranged inside the collecting box (23).
  9. 9. The mobile intelligent welding mechanical arm according to claim 2, wherein a high-speed vision collector (24) is arranged at the bottom of the auxiliary shaft (3), and the high-speed vision collector (24) is used for capturing the track and the space distribution rule of high-temperature splash sparks with higher brightness and transmitting detection data to a control center.

Description

Portable intelligent welding arm Technical Field The invention relates to the technical field of welding mechanical arms, in particular to a movable intelligent welding mechanical arm. Background In welding operation, high Wen Hanzha and spark spatter can destroy the coating of surrounding workpieces, and bring about quality and potential safety hazards. In order to solve the problem, the prior art mainly adopts a passive and fixed physical isolation method. For example, it is common practice to lay fire protection cloth around the weld area or to provide a fixed barrier. Still further, some technical solutions have attempted to combine a protective structure with an apparatus body, as disclosed in a welding device capable of preventing sputtering for producing a stainless steel composite board in patent document CN215588236U, and a fixed protective cover is provided on the welding device to block sputtering. However, these methods are essentially static protections, the scope, angle and position of which are fixed after setting. Since the sputter trajectory and the main distribution area of the welding spatter are highly dependent on the real-time angle of the welding gun, the fixed shield or shield can only provide protection in a predetermined direction and is mostly enclosed. The static protection mode has the fundamental defects that 1, the observation is seriously hindered when the static protection mode faces to the actual welding process, particularly the automatic welding with multiple angles and position changing is required, and in order to achieve the ideal protection environment, the cover body is required to be closed or only a very small observation window is reserved, so that operators or vision sensors are seriously hindered to observe a molten pool and weld joint formation. 2. Due to the heavy construction of the shield, the spark splatter may adhere to its inner wall and thereby accelerate the degradation of the shield. Therefore, the invention provides the movable intelligent welding mechanical arm. Disclosure of Invention The invention aims to provide a movable intelligent welding mechanical arm so as to solve the problems in the background technology. The technical scheme is that the mobile intelligent welding mechanical arm comprises a base, a main shaft is arranged above the base, a secondary shaft is arranged at the end part of the main shaft, a C-shaped frame is arranged at the end part of the secondary shaft, a rotating head is arranged in the C-shaped frame, a welding core is arranged at the bottom end of the rotating head, a vision sensor is arranged below the C-shaped frame and used for collecting images around the welding core, a protective cover is arranged on the outer wall of the rotating head, a plurality of fan-shaped pieces are arranged on the outer wall of the protective cover, an adaptive protection component which pushes the corresponding fan-shaped pieces to extend outwards according to the deflection angle of the welding core is arranged below the C-shaped frame, and a cleaning component which scrapes metal slag adhered to the inner wall of the protective cover is arranged inside the protective cover. Preferably, the self-adaptation protection component is including the inertial measurement sensor that is located the below of C shape frame, inertial measurement sensor is used for measuring the pitch angle and the accurate angle data of yaw angle of core wire in three-dimensional space in real time, the side of fan-shaped piece is equipped with the dead lever, the outer wall of dead lever is equipped with the connecting pipe, the tip of connecting pipe is equipped with annular shell, annular shell is located the outer wall of rotating head and rather than fixed connection, annular shell inside is the cavity and has four cavities, all be in negative pressure state between every cavity and the dead lever that corresponds, the top of annular shell is equipped with the inflating chamber and communicates with each other with it, the inflating chamber is located the outer wall of rotating head, the top of C shape frame is equipped with the air pump, inflating chamber and air pump communicate with each other. Preferably, the annular shell comprises a connecting part, the connecting part is positioned between the annular shell and the inflation cavity, a miniature air valve is arranged on the outer wall of the connecting part, and the miniature air valve is used for blocking and opening the air circulation between the connecting parts. Preferably, the miniature air valves and the connecting parts are four groups, each miniature air valve is mutually independent, and the miniature air valves, the air pump and the inertial measurement sensor are electrically connected with the control center. Preferably, the cleaning component comprises a scraping blade positioned on the inner side surface of the fan-shaped sheet, the fan-shaped sheet comprises a sliding part, the sliding part